CN113163775B

CN113163775B - Method and device for locating and/or handling carcasses and/or carcass parts during slaughter of animals on an industrial scale

Info

Publication number: CN113163775B
Application number: CN201980077293.4A
Authority: CN
Inventors: T·G·M·雅各布斯; H·马德森
Original assignee: Humboldt BV
Current assignee: Humboldt BV
Priority date: 2018-11-22
Filing date: 2019-11-21
Publication date: 2023-06-27
Anticipated expiration: 2039-11-21
Also published as: CN113163775A; WO2020106151A1; KR20210094565A; MX2021004695A; US11785956B2; BR112021009632A2; US20220022470A1; EP3883386A1; CA3120849A1; AU2019384619A1; JP2022507856A; AU2019384619B2

Abstract

The invention relates to a device for automatically positioning and/or handling and/or transporting a carcass and/or carcass part of a stunned or slaughtered animal during an animal slaughtering process on an industrial scale, the device comprising: a controlled first mechanical manipulator having at least four axes, at least one suction element and/or at least one mechanical meat gripper for contacting a surface of a stunned animal or carcass and/or carcass part, at least one suction element and/or at least one mechanical meat gripper connected to the at least one suction element for performing a suction action in the suction element, an actuator connected to the at least one meat gripper for causing the meat gripper to grip a portion of the stunned animal, carcass or carcass part, and at least one controller for controlling the mechanical manipulator, the suction element and/or the actuator.

Description

Method and device for locating and/or handling carcasses and/or carcass parts during slaughter of animals on an industrial scale

The present invention relates to a device for automatically positioning and/or handling carcasses and/or carcass parts during slaughter of animals on an industrial scale, and to a device for cutting carcasses and/or carcass parts during slaughter of animals on an industrial scale. The invention also relates to a transport system for transporting carcasses and/or carcass parts during slaughter of animals on an industrial scale. Furthermore, the invention comprises a method for automatically positioning and/or handling carcasses and/or carcass parts of slaughtered animals during slaughter of animals on an industrial scale, and a method for automatically cutting carcasses and/or carcass parts of slaughtered animals during slaughter of animals on an industrial scale.

During slaughter of animals on an industrial scale, in particular such as pigs and cattle, the carcasses of animals which are usually killed are suspended from a transfer (conveying) system with the rear legs of the carcasses suspended on movable hooks to be transported along a plurality of processing stations. Examples of such a procedure are: cleavage of the pubic bone, opening of the abdomen, separation of the outer end of the rectum (also called anal cutting), cutting of the penis, removal of viscera and/or various other treatment steps. After such preparation of carcass parts (typically fully or partly split halves), these carcass parts are typically released from the transport system for further processing, more particularly further subdivision during slaughter, for example initially with "initial cutting" in shoulder parts, middle parts and ham. Carcass parts subdivided from whole or half carcasses can be handled manually and moved to another transport system or station. Alternatively, the subdivided portions may fall uncontrolled to another transport system or station, or may be transported further at the location where they are separated. Different countries may subdivide carcasses in different ways and the cuts may also vary between different types of carcasses. In all carcass processing steps, it is very important that the operations on the carcasses are performed with high precision and that the negative effects of these operations on the meat quality are as small as possible.

Us patent 6,860,804 describes a method and system for improving the initial cutting of meat products like for example half carcasses of animals. As disclosed in such patents, traditionally, half carcasses are placed on a conveyor belt to enable an operator to manually correct the position of the carcasses so that the carcass parts are placed in the correct position to pass a saw (circular knife) disposed above the conveyor belt. The improvement proposed in such a patent consists in using horizontal modules to place the meat products to be cut on a set of conveyor members.

Current techniques for positioning and manipulating carcasses and carcass parts during the slaughtering process, such as during subdivision of carcasses of slaughtered animals, are flexible when performed manually, but inflexible and limited in control when mechanized. Furthermore, mechanization requires a large investment and/or results in difficulties in meeting the hygienic requirements of the meat handling process, which are high, but more accurate, to prevent cross-contamination of carcass parts. The problem in the prior art is thus to achieve an accurate, stable and hygienic positioning of carcasses and carcass parts during slaughter of animals on an industrial scale.

It is an object of the present invention to provide an improved method and apparatus for locating and/or manipulating carcasses and/or carcass parts of stunned animals, slaughtered animals, which method and apparatus are capable of enhancing an efficient and effective treatment of carcasses and carcass parts, which may also result in enhanced hygiene of the treatment.

A first aspect of the invention relates to a device for automatically positioning and/or handling and/or transporting carcasses and/or carcass parts of stunned or slaughtered animals during an animal slaughtering process on an industrial scale, the device comprising:

-a controlled first mechanical manipulator having at least four axes;

-at least one suction element and/or mechanical meat gripper for contact with the surface of the stunned animal or carcass and/or carcass part;

-an extractor connected to at least one suction element to perform a suction action in the suction element, and/or

An actuator connected to the meat gripper for the meat gripper to grip a part of the stunned animal, carcass or carcass part, and

-at least one controller for controlling the mechanical manipulator, the extractor and/or the actuator.

In an embodiment, the invention relates to a device for handling and/or disposing of carcasses and/or carcass parts of slaughtered animals during slaughter of animals on an industrial scale, the device comprising: a controlled mechanical manipulator; at least one suction element for contacting the surface of the carcass and/or carcass part; a suction element-carrying frame holding at least one suction element, the suction element-carrying frame being attached to the mechanical manipulator; and an extractor connected to the at least one suction element.

The device may locate, handle and/or transport the stunned animal or the carcass and/or carcass part of the animal. Positioning, handling and/or transport may be performed during the respective states of the animals or the whole slaughter process of a part of the slaughtered animals.

As an example, in the context of the present invention, the carcasses and/or carcass parts of animals are disposed of during a slaughtering process, which is understood to be the initial stage after which the animals are killed, up to the deboning stage. This therefore involves a first stage of cutting the carcass into larger carcass parts (also called initial cutting). Another definition of the slaughter process in the context of the present invention is the following phases during slaughter: denoted as "dirty line" (during which the intestine in particular is removed), "clean line" (during which the carcasses without intestine are further processed), cooling stage and initial cutting stage (in which the carcasses or carcass halves are generally separated into initial carcass parts).

A subsequent stage in carcass processing, which may or may not be included in the context of the present invention, is a deboning stage in which bone is removed from the carcass part. Preferably, the apparatus may be used for a plurality of processing steps which are performed when treating and handling a stunned animal or carcass at a slaughterhouse.

Preferably, the present invention relates to locating and/or handling and/or transporting carcasses or carcass parts. However, the present invention can also be used with stunned animals, except when any cut is being performed. Those skilled in the art will know when the device may be used with stunned animals and may include such a process in describing the invention in connection with Tu Tixiang in addition to the cutting process.

The use of at least one suction element for contacting and holding the carcass and/or carcass part enables the surface-contacting part of the suction element to be simply adapted to the specific shape and size of each individual meat product to be held. The use of at least one mechanical meat gripper may be performed by a portion of the gripping surface. The meat gripper may be used as a substitute for or together with a suction element to increase the holding of the carcass or carcass part.

Furthermore, the use of mechanical manipulators enables the use of "shelf" technology to control at least one suction element or mechanical meat gripper and provide a high freedom of movement.

Various types of mechanical manipulators are known in the art, for example mechanical manipulators implemented as "robotic arms". The first controlled mechanical manipulator may be a mechanical manipulator having at least four axes, such as a 4-axis mechanical manipulator, and may be a 5-axis mechanical manipulator, such as a 6-axis mechanical manipulator, e.g., a 7-axis mechanical manipulator. The number of axes corresponds to the number of degrees of freedom in the mechanical manipulator.

With regard to the control of the mechanical manipulator, preferably a control system such as a processor and/or controller may be comprised in the positioning and/or treatment device according to the invention. The processor or controller for processing information obtained by the at least one detector may be capable of communicating with at least one of the following: a first mechanical manipulator, an extractor, an actuator, a controller, and at least one detector.

At least one detector may be used to monitor the position of the stunned animal, the carcass or carcass part of the slaughtered animal to obtain information related to at least a part of the stunned animal, carcass or carcass part. Such information obtained by the at least one detector may be related to the position of the carcass or carcass part, wherein the position may be the position of a predetermined area of the carcass or carcass part, e.g. a predetermined area of a ham part, shoulder part or middle part of the carcass or carcass part. By obtaining information related to the position of the carcass or carcass part, the device may process such information and automatically position at least one suction element or at least one meat gripper for contact with a surface part of the carcass or carcass part, for example. The suction element(s) and/or the meat gripper(s) may be in contact with any predetermined area of the carcass or carcass part to be positioned, handled and/or transported.

The suction element is at least partially sealed on the carcass and/or carcass part to enable a negative pressure (a pressure below atmospheric pressure) to be generated in the suction element. The positioning device may also comprise two or more suction elements, depending on the size and the situation of the positioning device to be used. In this respect, two suction elements may be understood as two separate suction elements, but embodiments providing two or more compartments in a single housing are also included in the understanding of "two suction elements". At least two suction elements enable handling of complex shapes and/or heavy carcasses and/or carcass parts, which are e.g. difficult to handle with a single and non-spaced suction element. In order to prevent loss of control during handling of the carcasses/carcass parts due to leakage of the single compartment suction element, the suction element may be provided with a plurality of suction compartments and/or a plurality of suction elements. In the case of multiple suction compartments and/or multiple suction elements, a single leak in contact with the carcass and/or carcass part will lose complete grip on the carcass/carcass part. The effect of the multiple compartments and/or multiple suction elements is that when a local leakage occurs in the coupling of the suction element and the carcass/carcass part (e.g. due to irregular meat surfaces; damage of the suction element, external forces etc.), the single compartment and/or single suction element may lose its grip, but one or more compartments and/or suction elements will maintain its grip on the meat product.

The apparatus may also comprise more than one mechanical meat gripper, for example at least two mechanical meat grippers, or at least one suction element and at least one mechanical meat gripper. The suction element and the mechanical meat gripper may be used for contact with surfaces having different surface properties. For example, the suction element may not be suitable for surfaces having cavities or bone parts, whereas a mechanical meat gripper may be used for such surfaces.

The recited manipulations and/or treatments related to the present invention must be interpreted broadly; thus, all operations on the carcass or carcass part, including for example positioning, guiding, holding, pushing, tearing, moving etc., are included in the term "handling and/or disposal". Furthermore, the mechanical manipulator may be any robotic manipulator, but a particularly advantageous mechanical manipulator providing free operation comprises at least six degrees of freedom (so-called 6-axis mechanical manipulator).

The "extractor" or suction device may be any type of source capable of providing a pressure lower than atmospheric pressure, like for example a (vacuum) pump or suction system.

The invention may also be provided with an intelligent control unit, which may be physically integrated with the machine manipulator, or may be located at a distance from the machine manipulator, for example at a location that is more advantageous for manual interaction with the intelligent control unit, for example by an operator, and/or at a location that has hygienic and/or operational advantages.

The at least one suction element may be provided with at least one flexible cup or at least one flexible rim of the suction element. Such a flexible cup or flexible rim enables the suction element to adapt simply and itself to the shape of the surface of the carcass or carcass part to be gripped and enables the suction element to be connected seamlessly (and thus moderately sealingly) to the surface of the carcass or carcass part. The flexible cup is also easy to produce, inexpensive, easy to replace or adapt (e.g. to expected wear or different product sizes and/or shape of the meat product to be disposed of) and easy to clean.

In order to optimise the contact of the suction element with the carcass/carcass part, the periphery of the suction element (e.g. flexible cup) may be provided with a multi-layer rim or multi-layer outer boundary. Such an embodiment of the suction element may also be provided with concentric controlled suction element compartments. Again, such a feature may limit the consequences of undesirable leakage of the suction element during operation.

In case more than one suction element is applied, the suction element carrier frame may be provided with a plurality of mutually movable suction element holding arms. Such suction element carrying arms may also be provided with one or more fasteners to lock the relative mutual positions of the suction element holding arms. The movable suction element holding arm enables the mutual position of the suction elements to be adapted to the specific geometry and dimensions of the individual carcasses and/or carcass parts (also referred to herein collectively as "meat products") so that each individual meat product can be positioned irrespective of any geometrical and dimensional deviations from the average geometry for such meat products. Furthermore, the use of a mechanical manipulator also enables adapting the pre-positioning of the suction element to the specific geometry of each meat product, which even further enhances the flexibility of the orientation of the positioning device. After bringing the suction elements into firm contact with the meat product, the relative mutual orientation of the suction elements may be locked (fixed). The result is now that the positioning of the carcasses and/or carcass parts is controlled (safeguarded). The equipment used to achieve this safeguard in the orientation of the meat product is relatively easy to control and automate. In order to bring the suction element into good contact with the meat product, the suction element holding arms may be mutually resiliently attached to the suction element carrying frame. This makes it possible to position the suction element by simply pushing it onto the meat product; the position of the suction element may follow the elastic movement of the movable suction element retaining arm. The positioning device according to the invention enables stable, hygienic and economical automatic positioning of meat products on slaughter lines which also require limited space. The simple positioning facilitates further processing of the meat product.

An additional feature for limiting the chance of undesired leakage of the suction element is to provide the outer boundary of the suction element with a biasing device which causes the outer boundary of the suction element to exert a certain pressure on the carcass/carcass part to be treated. Such a pressure on the outer boundary of the suction element may also be provided by blowing gas (air) onto the outside of the outer boundary of the suction element, in particular during the initial contact of the suction element with the carcass/carcass part. Once the suction element is in good contact with the carcass/carcass part, a negative pressure will be established in the suction element, whereby the contact of the suction element with the carcass/carcass part will be more easily maintained. A more critical stage of establishing the negative pressure is during the initial contact stage of the suction element with the carcass/carcass part.

The suction element may also comprise a spike to ensure a good grip of the carcass or carcass part. The spike may protrude from the base portion of the suction element and should have a length such that it does not interact with the edge portion when the suction element is active, thereby ensuring that the edge of the suction element may obtain a safe retention of the surface of the skin or meat. The spike may be made of a flexible material or may be inflexible. The tip of the spike may be pointed and capable of engaging the skin surface or the meat surface. For example, a non-flexible spike with a pointed tip may increase the retention of skin/meat, as the spike tip may pierce the skin surface or the meat surface, thereby ensuring that the carcass or carcass part cannot slide out of the retention.

The suction element may further comprise a recess in a base portion of the suction element. When active, the skin or meat surface may be sucked into these grooves, thereby ensuring that the carcass or carcass part does not slip as described for the spike. The grooves in the base portion of the suction element may be parallel to the length of the suction element. When the suction element is active, the recess should preferably be perpendicular to the gravitational force distributed onto the carcass or carcass part to be treated, whereby the recess is preferably located horizontally in the suction element when lifting the carcass or carcass part. The grooves may be of any size, preferably the width of the grooves is at least 4mm and the depth of the grooves is at least 2mm.

Preferably, the suction element is slightly curved to follow the surface of the carcass or carcass part to be treated. Preferably, the curve of the suction element is similar to the curve of the shoulder of the pig, in particular if the suction element is used to hold onto the shoulder of the carcass or to treat the carcass or carcass part comprising the shoulder part.

The positioning device may further comprise at least one detector for monitoring the position of the carcass or carcass part of the slaughtered animal. The meat product to be treated with the positioning device according to the invention does not have to be forced to be in only a single (standardized) position as occurs in mechanical positioning according to the prior art. The present invention enables the positioning and/or manipulation of each carcass or carcass part depending on the individual size and shape characteristics of each individual meat product. This enables separate further processing of the located meat product if and when the individual shape, size and/or position of the located meat product is detected/recorded. The detector used to monitor the individual shape, size and/or orientation of the meat product may be, for example, a vision system with one or more cameras and/or other detectors. One or more such detectors may be attached to the first mechanical manipulator, but may also be located at a distance from the first mechanical manipulator (e.g. approximately upstream of the slaughter process), as long as the detector cooperates with the automatically controlled mechanical manipulator. Such a detector may not only be helpful during establishment of the initial contact between the suction element and/or the meat gripper and the carcass/carcass part, but may also be used for accurately further handling of the carcass/carcass part after the suction element and/or the meat gripper hold the carcass/carcass part.

In order to enhance the hygiene of the positioning of the meat product, cleaning means may be provided to clean the suction element and/or the meat gripper. In particular, one or more elements in contact with the meat, such as suction elements, may cause cross-contamination of the meat. Desirably, the suction element or meat gripper is cleaned after each contact with a meat product and before contact with a subsequent meat product. Such cleaning is preferably performed in a "dirty line" where the risk of contamination is low, although there is still a risk of contamination.

The positioning device may also comprise a mechanical meat gripper as an additional control element or as the sole element for holding and positioning the carcass and/or carcass part. Such a meat gripper may be an actively operated (gripping) gripper, but the meat gripper may also be a simple support structure (similar to one or more support pins or support surfaces). Providing additional mechanical parts (in addition to and instead of the suction grippers) may provide additional protection against absorption forces when the suction element loses its grip and/or when performing intensive operations on the carcass and/or carcass part held by the positioning device.

In a further aspect, the invention also provides an assembly of a positioning device according to the invention in combination with a transport system for transporting carcasses and/or carcass parts.

In an embodiment, the transport system comprises an overhead transport system which transports carcasses and/or carcass parts suspended from the rear legs on movable hooks.

Since the handling of meat products in slaughter plants on an industrial scale is generally already done with overhead transport systems, like for example transport systems carrying movable hooks, positioning can be done without further transfer of the meat products. These meat products can simply be positioned in-line without further need for any transfer, thereby limiting the chance of contamination without any additional investment for transfer and without also taking up any additional space.

Further embodiments of a transport system comprising a positioning device according to the invention comprise a conveyor belt. The meat product may, for example, after being split from a larger carcass part, be moved onto a conveyor belt for further transport, but the positioning device may also pick up carcasses and/or carcass parts from the meat conveyor supply belt.

A further aspect of the invention provides a cutting device for automatically cutting the carcasses and/or carcass parts of slaughtered animals during slaughter of animals on an industrial scale, the cutting device comprising a positioning device according to the invention in combination with a cutting blade.

"positioning" may mean different meanings, although "positioning" means that the carcass or carcass part is held and supported such that the holding counteracts the pressing or dragging force applied to the carcass or carcass part by at least one cutting blade in contact with the carcass or carcass part and performing the cut, or the pressing or dragging force when the dragging device contacts the meat part and drags the meat part from the carcass or carcass part. Thus, the forces exerted by the cutting blade or the dragging device do not change the position of the carcass or carcass part.

The cutting device may also comprise a transport system according to the invention.

At least one conveyor belt may also be part of the present invention. Such a conveyor belt may be used to transport meat portions cut by the cutting apparatus described herein. The cutting system may include:

overhead transport/handling system for transporting carcasses or carcass parts, such as carcass parts suspended by the rear legs, and

An overhead mounted first manipulator configured to position and/or handle carcass parts, and/or

An overhead mounted cutting device, such as a second manipulator, configured to cut the carcass part; and

at least one conveyor belt located below, i.e. closer to the bottom, with respect to the transport system, the first manipulator and/or the second manipulator.

In general, the cutting device may be a stationary device that does not move when performing the cut.

The cutting blade may be, for example, a rotatable cutting blade, an intermittently moving cutting blade, or a stationary cutting blade. The knife may also be carried by a second controlled drive, e.g., a second mechanical manipulator, which may be a 1-axis mechanical manipulator, such as a 2-axis mechanical manipulator, e.g., a 3-axis mechanical manipulator, such as a 4-axis mechanical manipulator, e.g., a 5-axis mechanical manipulator, such as a 6-axis mechanical manipulator, e.g., a 7-axis mechanical manipulator. The number of axes corresponds to the number of degrees of freedom in the mechanical manipulator.

The cutting device described herein may also be a system that cuts the carcass or carcass part "in the air (on the fly)". The system may be configured such that, although the carcass or carcass part is positioned by at least one suction element and/or mechanical meat gripper, the carcass or carcass part as a whole is transported in a first direction and the cutting blade carried by the controlled cutting blade drive is transported in a second direction, which is similar or different to the first direction. The first transport direction and the second transport direction may be opposite to each other at the cutting location.

The described combination of features enables cutting of carcasses or carcass parts, for example while they are still in a hanging position, so as to be fed in columns from a previous slaughtering step to a cutting position, to undergo for example an initial cutting and subsequent removal of the cut meat parts to a further processing station or transport system. For example, instead of separating the previous slaughtering step from the initial cut, the cut according to the invention may be performed entirely in columns. This not only is faster and cheaper (since no complex, time-consuming and space-consuming transfer steps between different transport systems have to be performed), but also enhances the control of the hygiene. The cutting may thus be performed with the carcasses and/or carcass parts suspended from the hind legs on a standard transport system for the initial slaughter process step, similar to a transport system carrying movable hooks. Furthermore, the cut split carcass parts may be removed, for example, with a conveyor belt on which the split carcass parts fall or the cut carcass parts are positioned on the conveyor belt by a first mechanical manipulator. The suction element and/or the meat gripper may be deactivated to release the carcass part from the first mechanical manipulator when the carcass part is positioned on the conveyor belt.

The splitting of the carcass part using the device according to the invention may be achieved using the device not only in combination with a knife or saw. A separate alternative is to pull apart certain carcass parts. An example is "lumbar pulling", at which time the lumbar can be held so well with the suction element that the lumbar can be pulled down. Typically, the meat is broken down by pulling at least a portion of the meat from the carcass.

Another aspect of the invention relates to a method for automatically locating and/or handling and/or transporting carcasses and/or carcass parts of stunned or slaughtered animals during an industrial-scale animal slaughtering process, the method comprising the steps of:

a) Providing a carcass and/or carcass part of a stunned or slaughtered animal;

b) Contacting at least one suction element and/or at least one mechanical meat gripper with a surface of the stunned animal or carcass and/or carcass part, wherein the at least one suction element and/or the at least one mechanical meat gripper is controlled by at least one mechanical manipulator having at least four axes; and

c1 Activating the extractor to lock the at least one suction element to the surface of the stunned animal or carcass and/or carcass part by generating a negative pressure in the at least one suction element, and/or

c2 Actuating an actuator to lock at least one mechanical meat gripper to the surface of the stunned animal or carcass and/or carcass part,

d) Thereby, the stunned animal or carcass and/or carcass part is positioned and/or disposed.

In the method, step d) may further comprise the step of pulling or pressing or lifting the stunned animal or carcass and/or carcass part.

The method for automatically positioning carcasses and/or carcass parts of slaughtered animals during slaughter of animals on an industrial scale may further comprise the steps of: providing a carcass and/or carcass part of a slaughtered animal hanging from the rear leg; contacting at least one suction element with the surface of the carcass and/or carcass part; and locking the relative position of the suction element into contact with the surface of the carcass and/or carcass part by reducing the pressure in the suction element.

With this method the above-mentioned advantages relating to the positioning device according to the invention, which are hereby incorporated by reference, can be achieved. The method is easy to perform and requires only a limited investment in positioning tools, but allows for the subsequent processing of the meat products even if the meat products have unequal sizes and/or there is a difference between the meat products. In this respect, reference is likewise made to a subsequent slaughter line transporting the left carcass part and the right carcass part. In the prior art, these different halves are typically processed on different lines, or the different halves must be repositioned to enable processing. According to the method and with the device according to the invention, the subsequent treatment of the different sides of the carcasses is not problematic and does not even require any adjustment. Further processing is supported by detecting the position, optionally including size and/or shape, of the carcass and/or carcass part to be contacted by at least one locked suction element and/or at least one meat gripper. The information derived from the automatic position detection of such position(s) may subsequently be used to control the movement of at least one suction element or at least one meat gripper in contact with the surface of the carcass and/or carcass part. Since the orientation, shape and size of each meat product is detected, the subsequent processing of the meat products is easy to personalize by means of the intelligent control system. As an additional protection and/or in order to be able to exert a greater force, the carcasses and/or carcass parts may additionally be held by suction elements while being held by mechanical meat grippers.

The method as described above may comprise during the processing step b) contacting a plurality of suction elements and/or a plurality of mechanical meat grippers at different locations with the surface of the stunned animal or carcass and/or carcass part; and during the processing step c) locking the suction element and/or the mechanical meat gripper in a relative mutual position in which the suction element and/or the mechanical meat gripper is in contact with the surface of the stunned animal, carcass and/or carcass part.

Before bringing the at least one suction element and/or the at least one mechanical meat gripper into contact with the surface of the stunned animal, carcass and/or carcass part according to process step b), at least one position of the stunned animal or carcass and/or carcass part contacted by the at least one suction element and/or meat gripper may be automatically detected and the resulting position information may be used to control the movement of the at least one suction element and/or meat gripper.

A further aspect of the invention relates to a method for automatically cutting the carcasses and/or carcass parts of slaughtered animals during slaughter of animals on an industrial scale, the method comprising the steps of: the carcass and/or carcass part is positioned by the positioning method according to the invention and the positioned carcass and/or carcass part is cut with a cutting knife. Such cutting may be accomplished by using a rotating cutting blade.

The intelligent control system may, for example, manipulate the cutter based on at least one detector and a processor to compensate for movement of the cutter for recorded changes in location, shape and size for each of the meat products to be cut. Alternatively, the knife may also be in a stationary position and the carcass/carcass part may be moved along the stationary knife using the device according to the invention for precisely displacing the carcasses/carcass parts to be separated.

In the cutting method, at least one suction element and/or mechanical meat gripper may be in contact with the surface area of the carcass and/or the part of the carcass part to be cut off. This may ensure a higher stability of the portion to be cut off and at the same time the mechanical manipulator may subsequently position the cut-off meat portion in a predetermined position, such as a conveyor belt, which may transport the meat portion to another processing station. Furthermore, once the carcass part is cut off, the other parts of the carcass can be transported to another processing station.

Examples of cuts according to the methods described herein may be cuts, preferably rear leg suspended, pig half carcasses, however more cuts are possible:

a. Cutting the shoulder portion of the lower carcass half;

b. cutting the middle part from the ham part;

c. the intermediate portion is divided into an abdomen portion and a waist portion.

In example "c", the splitting of the middle portion into the abdomen portion and the waist portion may be performed before or after the portions are cut from the ham portion. Examples "a" and "b" may be performed in two steps or may be performed simultaneously in a system comprising two cutting blades each carried by a controlled cutting blade driver.

By positioning the carcass or carcass part as described herein, the carcass or carcass part may be kept such that no movement of the carcass or carcass part is performed and thus the quality of the cut may be improved and thus a cut is obtained which is preferable for obtaining a high quality meat part.

As indicated, the cutting device may comprise at least one cutting blade, such as two cutting blades, e.g. three cutting blades. Preferably, each cutting blade is capable of being controlled individually and carried by a controlled cutting blade drive. In a similar manner, the cutting apparatus may comprise at least one suction element and/or at least one mechanical meat gripper, such as a total of two suction elements and/or mechanical meat grippers. Preferably, the number of suction elements and/or mechanical meat grippers is similar to or greater than the number of cuts to be performed simultaneously or immediately one after the other. If the cuts described in the examples "a" and "b" indicated above are performed simultaneously, at least one suction element and/or at least one mechanical meat gripper may be engaged with each of the shoulder portion and the intermediate portion to position the carcass portion during the cut and optionally to lift the cut carcass portion to a predetermined position, such as a conveyor belt. Meanwhile, in example "c", if the middle portion is split into the abdomen portion and the waist portion before the abdomen portion and the waist portion are cut from the ham portion, at least one suction element and/or at least one mechanical meat gripper may be positioned to each of the abdomen portion and the waist portion and optionally treat the cut carcass portion.

A further important advantage of the invention is that the process can be mechanized or automated and thus the method can be performed without requiring human effort. This results in a reduction of the manpower required in the slaughter line, which not only ensures process efficiency, but also has a positive impact on hygiene due to the reduced manual handling. Improving the quality of the cuts performed and the meat portions cut is also an important advantage.

The invention will be further elucidated with reference to the following non-limiting examples in the accompanying drawings.

In the drawings:

fig. 1 shows a perspective view of a positioning device according to the invention;

figure 2 is a detailed perspective view of a suction element according to the invention as part of a positioning device for contact with the surface of a carcass and/or carcass part;

FIG. 3 is a detailed perspective view of an alternative embodiment of the suction element shown in FIG. 2;

figure 4 is a schematic view of a positioning device according to the invention comprising a cutting device operating on a suspended pig carcass;

figure 5 is a detailed perspective view of the suction element in contact with the pig carcass combined with the waist puller; and

fig. 6 shows the communication between items in a possible arrangement of the system according to the invention.

Fig. 1 shows a positioning device 1 for positioning the carcasses of slaughtered animals (not shown here), which positioning device 1 comprises a mechanical manipulator 2 in the form of a robotic arm; the mechanical manipulator 2 has at least four, such as six, degrees of freedom. The mechanical manipulator 2 holds a carrier frame 3, which carrier frame 3 holds suction elements 4. The duct 5 is coupled on one end to the suction element 4, which duct 5 is connected on the opposite end to an extractor (extraction system) 6, which extractor (extraction system) 6 is here schematically shown.

Fig. 2 shows the suction element 4 in more detail. The edge 7 of the suction element is embodied as a highly flexible outer boundary to adapt to the shape of the carcass part to be contacted, so that the suction element 4 can be connected to the meat surface in an airtight manner. Gas may be sucked out of the suction element 4 via the holes 8 in the suction element 4 to create a negative pressure in the inner volume 9 of the suction element 4 when in contact with the meat surface. Located in the suction element 4 is a spike 10, which spike 10 is fixed to control the position of the suction element 4 towards the contacted meat surface.

Fig. 3 shows a perspective view of an alternative embodiment of a suction element 10 with two

separate compartments

11, 12. The

compartments

11, 12 of the suction element 10 are integrated in a frame 13, which frame 13 has two hinged

movable frame parts

14, 15.

In fig. 4, the positioning device 20 with the mechanical manipulator 21, the carrying frame 22 and the suction element 23 is being mated with the meat cutter 24. The suction element 23 grips the shoulder of the pig carcass 25, which pig carcass 25 is suspended with its rear legs 26 on hooks 27 of an overhead transport system 28. The positioning device 20 controls the position of the carcass 25 so that the controlled meat cutter 24 can cut a part from the carcass 25 with a rotary knife 29. After cutting off the carcass part (shoulder), this part is still gripped by the positioning device 20, so that the broken-down carcass part can be removed further in a controlled manner. The first mechanical manipulator 21 is shown positioned on the bottom, but may also be suspended as a second mechanical manipulator, here shown by the meat cutter 24. The conveyor, such as a conveyor belt, may be located below and/or beside the system and below the height above the bottom at which the cut is performed.

Figure 5 shows an alternative operation to that shown in figure 4 for a suspended pig carcass 30. Here, the mechanical manipulator 21, the carrier frame 22 and the suction element 23 again fix the position of the suspended pig carcass 30, but now engage the spine extractor 31. According to the invention, the spinal extractor 31 is also a positioning device, since the spinal extractor 31 comprises a suction element 32 held by a frame 33, which frame 33 is moved by a mechanical manipulator 34.

Fig. 6 shows the communication between items in a possible setup of the cutting system according to the invention. The majority of the items are also shown in fig. 4. A controller 36 and a CPU or processor 35 are shown, the controller 36 and CPU or processor 35 receiving data from or communicating with:

at least one upstream computer/controller/detector/processor 37 adapted to transmit upstream obtained information or information based on upstream obtained information, such as information related to the carcass or carcass part to be handled in the system,

a transport system 28, such as an overhead transport system,

a detector 38, such as a vision system,

a cutting blade drive 39, such as a second mechanical manipulator,

a cutting blade 29, such as a knife or saw,

at least one extraction system 6 or at least one mechanical meat gripper 40 for the suction element 23,

a first mechanical manipulator for controlling at least one suction element 23 or at least one meat gripper 40,

optionally, a conveyor belt 41.

The controller 36 and the CPU or processor 35 may be integrated in one item. In some systems, the upstream computer/controller/detector/processor 37 and/or the transport system 28 may not be present and/or the cutting blade 29 and cutting blade drive 39 may be replaced with other means for handling the positioned carcasses or carcass parts.

Examples

Embodiment 1. An apparatus for automatically positioning and/or handling carcasses and/or carcass parts of slaughtered animals during slaughter of animals on an industrial scale, comprising:

-a controlled mechanical manipulator;

-at least one suction element for contact with the surface of the carcass and/or carcass part;

-a suction element carrying frame holding at least one suction element, the suction element carrying frame being attached to the mechanical manipulator; and

-an extractor connected to the at least one suction element.

Embodiment 2. The positioning device according to embodiment 1, characterized in that the positioning device comprises at least two suction elements for contact with the surface of the carcass and/or carcass part.

Embodiment 3. The positioning device according to embodiment 1 or 2, characterized in that the at least one suction element comprises at least one flexible cup.

Embodiment 4. The positioning device according to any of the preceding embodiments, characterized in that the suction element carrier frame is provided with a plurality of mutually movable suction element holding arms.

Embodiment 5. The positioning device according to embodiment 4, characterized in that the suction element holding arms are attached to the suction element carrying frame resiliently to each other.

Embodiment 6. The positioning device according to any of the preceding embodiments, characterized in that the device further comprises at least one detector for monitoring the position of the carcass or carcass part of the slaughtered animal.

Embodiment 7. The positioning device according to any of the preceding embodiments, wherein the device further comprises a cleaning tool for cleaning the suction element.

Embodiment 8. The positioning device according to any of the preceding embodiments, wherein the device further comprises a mechanical meat gripper.

Embodiment 9. A transport system for transporting carcasses and/or carcass parts during slaughter of animals on an industrial scale, comprising a positioning device according to any of the preceding embodiments.

Embodiment 10. The transport system according to embodiment 9, characterized in that the transport system comprises an overhead transport system carrying carcasses and/or carcass parts suspended from the rear legs on movable hooks.

Embodiment 11. The transport system according to

embodiment

9 or 10, characterized in that the transport system comprises a conveyor belt.

Embodiment 12. A cutting device for automatically cutting carcasses and/or carcass parts of slaughtered animals during slaughter of animals on an industrial scale, comprising a positioning device according to one of embodiments 1 to 8 and at least one cutting blade carried by a controlled cutting blade drive.

Embodiment 13. The cutting apparatus of embodiment 12, wherein the controlled cutting blade drive is a second mechanical manipulator.

Embodiment 14. A cutting assembly of a cutting device according to

embodiment

12 or 13, the assembly further comprising a transport system for transporting carcasses and/or carcass parts.

Embodiment 15. The cutting assembly according to any one of embodiments 12 to 14, wherein the transport system comprises an overhead transport system with movable hooks to transport carcasses and/or carcass parts hanging from the rear legs.

Example 16. A method for automatically positioning and/or handling carcasses and/or carcass parts of slaughtered animals during slaughter of animals on an industrial scale, comprising the steps of:

a) Providing a carcass and/or carcass part of a slaughtered animal;

b) Contacting at least one suction element with the surface of the carcass and/or carcass part; and

c) The at least one suction element is locked to the surface of the carcass and/or carcass part by generating a negative pressure in the at least one suction element.

Embodiment 17. The method according to embodiment 16, characterized in that during the processing step b) a plurality of suction elements located at different positions are brought into contact with the surface of the carcass and/or carcass part; and during the processing step c) the suction element is locked in a relative mutual position in which the suction element is in contact with the surface of the carcass and/or carcass part.

Embodiment 18. The method according to embodiment 16 or 17, characterized in that at least one position of the carcass and/or carcass part contacted by the at least one suction element is automatically detected before the at least one suction element is brought into contact with the surface of the carcass and/or carcass part according to process step b), and the resulting position information is used to control the movement of the at least one suction element.

Embodiment 19. A method for automatically cutting the carcasses and/or carcass parts of slaughtered animals during slaughter of animals on an industrial scale, comprising the steps of:

-positioning carcasses and/or carcass parts according to any of embodiments 14 to 16; and

-cutting the positioned carcass and/or carcass part with a cutter.

Embodiment 20. The cutting method according to embodiment 19, characterized in that the carcasses and/or carcass parts are cut with rotating cutting blades.

Claims

1. An apparatus for automatically locating and/or handling and/or transporting carcasses and/or carcass parts of stunned or slaughtered animals during an animal slaughtering process on an industrial scale, the apparatus comprising:

-a controlled first mechanical manipulator having at least four axes;

-at least one suction element and/or at least one mechanical meat gripper for contact with a surface of the stunned animal or carcass and/or carcass part;

-an extractor connected to the at least one suction element to perform a suction action therein, and/or

-an actuator connected to the at least one meat gripper to cause the meat gripper to grip the stunned animal, the carcass or a part of the carcass part, and

at least one controller for controlling the mechanical manipulator, the extractor and/or the actuator,

characterized in that the at least one suction element and/or at least one mechanical meat gripper is configured for positioning the carcass and/or the carcass part of the stunned animal or slaughtered animal during further processing of the carcass and/or the carcass part of the stunned animal or slaughtered animal.

2. The apparatus of claim 1, further comprising at least one detector for monitoring the position of a carcass or carcass part of a stunned animal, slaughtered animal to obtain information related to the position of at least a part of the stunned animal, carcass or carcass part.

3. The apparatus of any one of the preceding claims, further comprising a processor for processing information obtained by the at least one detector, the processor being capable of communicating with at least one of:

-a first mechanical manipulator of the type described above,

-a step of extracting the data from the sample by means of a extractor,

-a first end of the actuator is connected to the first end of the actuator,

-said controller, and

-said at least one detector.

4. The apparatus of claim 1 or 2, wherein the first controlled mechanical manipulator comprises at least a 5-axis mechanical manipulator.

5. The apparatus of claim 4, wherein the first controlled mechanical manipulator comprises a 6-axis mechanical manipulator or a 7-axis mechanical manipulator.

6. The apparatus according to claim 1 or 2, comprising at least two suction elements and/or a mechanical meat gripper.

7. The apparatus of claim 6, comprising at least two suction elements, or at least two mechanical meat grippers, or at least one suction element and at least one mechanical meat gripper.

8. The apparatus of claim 1 or 2, wherein the at least one suction element comprises at least one flexible cup or at least one flexible rim to contact the surface of the stunned animal or carcass part.

9. The apparatus of claim 1 or 2, further comprising a suction element carrier frame holding the at least one suction element, the suction element carrier frame being attached to the first mechanical manipulator.

10. The apparatus according to claim 1 or 2, wherein the apparatus further comprises a cleaning tool for cleaning the suction element and/or the meat gripper.

11. Transport system for transporting stunned animals, carcasses and/or carcass parts during an industrial-scale animal slaughtering process, wherein the transport system comprises at least one positioning and/or handling device according to any of the preceding claims.

12. Transport system according to claim 11, wherein the transport system further comprises an overhead transport system for transporting stunned animals or carcasses and/or carcass parts suspended from the rear legs on movable hooks connected to the overhead transport system.

13. The transport system of claim 11 or 12, wherein the transport system further comprises a conveyor belt.

14. A cutting device for automatically cutting carcasses and/or carcass parts of slaughtered animals during an animal slaughtering process on an industrial scale, the cutting device comprising:

-a positioning and/or handling and/or transporting device according to any one of claims 1 to 10, or

-a transport system according to any of claims 11 to 13, and

-at least one cutting blade.

15. The cutting apparatus of claim 14, wherein the at least one cutting blade is carried by a controlled cutting blade drive.

16. The cutting apparatus of claim 15, wherein the controlled cutting blade drive is a second mechanical manipulator.

17. The cutting apparatus of claim 16, wherein the second controlled mechanical manipulator comprises at least a 1-axis mechanical manipulator.

18. The cutting apparatus of claim 17, wherein the second controlled mechanical manipulator comprises a 2-axis mechanical manipulator, a 3-axis mechanical manipulator, a 4-axis mechanical manipulator, a 5-axis mechanical manipulator, a 6-axis mechanical manipulator, or a 7-axis mechanical manipulator.

19. A cutting assembly of a cutting apparatus according to any one of claims 14 to 18, the assembly further comprising a transport system for transporting the carcasses and/or carcass parts.

20. Cutting assembly according to claim 19, wherein the transport system comprises an overhead transport system with movable hooks to transport carcasses and/or carcass parts hanging from the rear legs.

21. A method for automatically locating and/or handling and/or transporting carcasses and/or carcass parts of stunned or slaughtered animals during an industrial scale animal slaughtering process, the method comprising the steps of:

a) Providing a carcass and/or carcass part of a stunned or slaughtered animal;

b) Contacting at least one suction element and/or at least one mechanical meat gripper with a surface of the stunned animal or carcass and/or carcass part, wherein the at least one suction element and/or at least one mechanical meat gripper is controlled by at least one mechanical manipulator having at least four axes; and

c1 Activating an extractor to lock the at least one suction element to the surface of the stunned animal or the carcass and/or carcass part by generating a negative pressure in the at least one suction element, and/or

c2 Actuating an actuator to lock the at least one mechanical meat gripper to the surface of the stunned animal or the carcass and/or carcass part,

d) Thereby positioning and/or disposing of the stunned animal or the carcass and/or the carcass part,

characterized in that the method further comprises the steps of: positioning the carcass and/or carcass part of the stunned animal or slaughtered animal with the at least one suction element and/or at least one mechanical meat gripper during further processing of the carcass and/or carcass part of the stunned animal or slaughtered animal.

22. Method according to claim 21, wherein step d) further comprises the step of pulling or pressing or lifting the stunned animal or the carcass and/or carcass part.

23. Method according to claim 21 or 22, wherein during processing step b) a plurality of suction elements and/or a plurality of mechanical meat grippers at different locations are brought into contact with the surface of the stunned animal or the carcass and/or carcass part; and during processing step c) locking the suction element and/or mechanical meat gripper in a relative mutual position in which the suction element and/or mechanical meat gripper is in contact with the surface of the stunned animal, the carcass and/or the carcass part.

24. Method according to claim 21 or 22, wherein at least one position of the stunned animal or the carcass and/or carcass part contacted by the at least one suction element and/or meat gripper is automatically detected before the at least one suction element and/or the at least one mechanical meat gripper is brought into contact with the surface of the stunned animal, the carcass and/or carcass part according to processing step b), and the resulting position information is used to control the movement of the at least one suction element and/or meat gripper.

25. A method for automatically cutting carcasses and/or carcass parts of slaughtered animals during slaughter of animals on an industrial scale, the method comprising the steps of:

-positioning carcasses and/or carcass parts according to any of claims 21 to 24; and

-cutting the positioned carcass and/or carcass part with a cutter.

26. Cutting method according to claim 25, wherein the carcass and/or carcass part is cut with a rotating cutting blade.

27. Cutting method according to claim 25 or 26, wherein at least one suction element and/or at least one mechanical meat gripper is in contact with the surface area of the carcass and/or the part of the carcass part to be cut off.

28. Cutting method according to claim 27, wherein the at least one suction element and/or mechanical meat gripper is in contact with the surface area of the carcass and/or carcass part to be cut at least before cutting has been performed or before the cut part is positioned in a predetermined position.

29. Cutting method according to claim 27, wherein the at least one suction element and/or mechanical meat gripper is in contact with the surface area of the carcass and/or carcass part to be cut at least before cutting has been performed or before the cut part is positioned on a conveyor belt.